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ObsoleteModelica3.mo
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ObsoleteModelica3.mo
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within ;
package ObsoleteModelica3
"Library that contains components from Modelica Standard Library 2.2.2 that have been removed from version 3.0"
package Blocks
"Library of basic input/output control blocks (continuous, discrete, logical, table blocks)"
package Interfaces
"Library of connectors and partial models for input/output blocks"
connector RealSignal = Real "Real port (both input/output possible)"
annotation (obsolete="Connector is not valid according to Modelica 3, since input/output prefixes are missing. When using this connector, it is not possible to check for balanced models.",
Documentation(info="<html>
<p>
Connector with one signal of type Real (no icon, no input/output prefix).
</p>
</html>"));
connector BooleanSignal = Boolean
"Boolean port (both input/output possible)"
annotation (obsolete="Connector is not valid according to Modelica 3, since input/output prefixes are missing. When using this connector, it is not possible to check for balanced models.",
Documentation(info="<html>
<p>
Connector with one signal of type Boolean (no icon, no input/output prefix).
</p>
</html>"));
connector IntegerSignal = Integer
"Integer port (both input/output possible)"
annotation (obsolete="Connector is not valid according to Modelica 3, since input/output prefixes are missing. When using this connector, it is not possible to check for balanced models.",
Documentation(info="<html>
<p>
Connector with one signal of type .
</p>
</html>"));
package Adaptors
"Obsolete package with components to send signals to a bus or receive signals from a bus (only for backward compatibility)"
model AdaptorReal
"Completely obsolete adaptor between 'old' and 'new' Real signal connectors (only for backward compatibility)"
extends ObsoleteModelica3.Icons.ObsoleteBlock;
ObsoleteModelica3.Blocks.Interfaces.RealSignal newReal
"Connector of Modelica version 2.1" annotation ( Hide=true,
Placement(transformation(extent={{100,-10},{120,10}})));
RealPort oldReal(final n=1) "Connector of Modelica version 1.6" annotation (Placement(
transformation(extent={{-120,-10},{-100,10}})));
protected
connector RealPort "Connector with signals of type Real"
parameter Integer n=1 "Dimension of signal vector" annotation (Hide=true);
replaceable type SignalType = Real "type of signal";
SignalType signal[n] "Real signals" annotation (Hide=true);
end RealPort;
equation
newReal = oldReal.signal[1];
annotation(defaultConnectionStructurallyInconsistent=true,
obsolete="Model is not balanced, so equation check will not work. This model is no longer needed",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
lineColor={0,0,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-144,96},{144,46}},
textString=""),
Text(
extent={{-88,22},{88,-24}},
lineColor={0,0,255},
textString="adaptor"),
Text(
extent={{-216,-58},{36,-80}},
textString="port.signal")}),
Documentation(info="<html>
<p>
Completely obsolete adaptor between the Real signal connector
of version 1.6 and version ≥ 2.1 of the Modelica Standard Library.
This block is only provided for backward compatibility.
</p>
</html>"));
end AdaptorReal;
model AdaptorBoolean
"Completely obsolete adaptor between 'old' and 'new' Boolean signal connectors (only for backward compatibility)"
extends ObsoleteModelica3.Icons.ObsoleteBlock;
ObsoleteModelica3.Blocks.Interfaces.BooleanSignal newBoolean
"Connector of Modelica version 2.1"
annotation ( Hide=true, Placement(
transformation(extent={{100,-10},{120,10}})));
BooleanPort oldBoolean(final n=1) "Connector of Modelica version 1.6" annotation (Placement(
transformation(extent={{-120,-10},{-100,10}})));
protected
connector BooleanPort "Connector with signals of type Boolean"
parameter Integer n=1 "Dimension of signal vector" annotation (Hide=true);
replaceable type SignalType = Boolean "type of signal";
SignalType signal[n] "Boolean signals" annotation (Hide=true);
end BooleanPort;
equation
newBoolean = oldBoolean.signal[1];
annotation(defaultConnectionStructurallyInconsistent=true,
obsolete="Model is not balanced, so equation check will not work. This model is no longer needed",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,0,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-144,96},{144,46}},
textString=""),
Text(
extent={{-88,22},{88,-24}},
lineColor={255,0,255},
textString="adaptor"),
Text(
extent={{-216,-58},{36,-80}},
textString="port.signal")}),
Documentation(info="<html>
<p>
Completely obsolete adaptor between the Real signal connector
of version 1.6 and version ≥ 2.1 of the Modelica Standard Library.
This block is only provided for backward compatibility.
</p>
</html>"));
end AdaptorBoolean;
model AdaptorInteger
"Completely obsolete adaptor between 'old' and 'new' Integer signal connectors (only for backward compatibility)"
extends ObsoleteModelica3.Icons.ObsoleteBlock;
ObsoleteModelica3.Blocks.Interfaces.IntegerSignal newInteger
"Connector of Modelica version 2.1"
annotation ( Hide=true, Placement(
transformation(extent={{100,-10},{120,10}})));
IntegerPort oldInteger(final n=1) "Connector of Modelica version 1.6" annotation (Placement(
transformation(extent={{-120,-10},{-100,10}})));
protected
connector IntegerPort "Connector with signals of type Integer"
parameter Integer n=1 "Dimension of signal vector" annotation (Hide=true);
replaceable type SignalType = Integer "type of signal";
SignalType signal[n] "Integer signals" annotation (Hide=true);
end IntegerPort;
equation
newInteger = oldInteger.signal[1];
annotation(defaultConnectionStructurallyInconsistent=true,
obsolete="Model is not balanced, so equation check will not work. This model is no longer needed",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Rectangle(
extent={{-100,40},{100,-40}},
lineColor={255,127,0},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-144,96},{144,46}},
textString=""),
Text(
extent={{-88,22},{88,-24}},
lineColor={255,127,0},
textString="adaptor"),
Text(
extent={{-216,-58},{36,-80}},
textString="port.signal")}),
Documentation(info="<html>
<p>
Completely obsolete adaptor between the Real signal connector
of version 1.6 and version ≥ 2.1 of the Modelica Standard Library.
This block is only provided for backward compatibility.
</p>
</html>"));
end AdaptorInteger;
end Adaptors;
end Interfaces;
package Math "Library of mathematical functions as input/output blocks"
package UnitConversions
"Conversion blocks to convert between SI and non-SI unit signals"
block ConvertAllUnits
"Obsolete block. Use one of Modelica.Blocks.Math.UnitConversions.XXX instead"
replaceable block ConversionBlock =
Modelica.Blocks.Interfaces.PartialConversionBlock
"Conversion block"
annotation (choicesAllMatching=true,
Documentation(info=
"<html>
<p>
Internal replaceable block that is used to construct the
\"pull down menu\" of the available unit conversions.
</p>
</html>"));
extends ConversionBlock;
extends ObsoleteModelica3.Icons.ObsoleteBlock;
annotation (
obsolete="Model is not according to Modelica Language 3.0 since replaceable base class present. " +
"Use instead one of Modelica.Blocks.Math.UnitConversions.XXX",
defaultComponentName="convert",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={Line(points={{-90,0},{30,0}}, color=
{191,0,0}), Polygon(
points={{90,0},{30,20},{30,-20},{90,0}},
lineColor={191,0,0},
fillColor={191,0,0},
fillPattern=FillPattern.Solid)}),
Documentation(info="<html>
<p>This block implements the Modelica.SIunits.Conversions functions as a fixed causality block to
simplify their use. The block contains a replaceable block class <strong>ConversionBlock</strong> that can be
changed to be any of the blocks defined in Modelica.Blocks.Math.UnitConversions, and more generally, any
blocks that extend from Modelica.Blocks.Interfaces.PartialConversionBlock.
</p>
<p>
The desired conversion can be selected in the parameter menu
(the selected units are then displayed in the icon):
</p>
<p>
<img src=\"modelica://Modelica/Resources/Images/Blocks/ConvertAllUnits.png\">
</p>
</html>"));
end ConvertAllUnits;
end UnitConversions;
block TwoInputs
"Obsolete block. Use instead Modelica.Blocks.Math.InverseBlockConstraints"
extends Modelica.Blocks.Interfaces.BlockIcon;
extends ObsoleteModelica3.Icons.ObsoleteBlock;
Modelica.Blocks.Interfaces.RealInput u1
"Connector of first Real input signal"
annotation ( layer="icon",
Placement(transformation(extent={{-139.742,-19.0044},{-100,20}})));
Modelica.Blocks.Interfaces.RealInput u2
"Connector of second Real input signal (u1=u2)"
annotation (
layer="icon", Placement(transformation(
origin={120,0},
extent={{-20,-20},{20,20}},
rotation=180)));
equation
u1 = u2;
annotation(defaultConnectionStructurallyInconsistent=true,
obsolete="Model is not balanced, i.e., not according to Modelica Language 3.0. Use instead Modelica.Blocks.Math.InverseBlockConstraints",
Documentation(info="<html>
<p>
This block is used to enable assignment of values to variables preliminary
defined as outputs (e.g., useful for inverse model generation).
</p>
</html>"), Icon(coordinateSystem(
preserveAspectRatio=false,
extent={{-100,-100},{100,100}}),
graphics={Text(
extent={{-95,50},{95,-50}},
lineColor={0,0,127},
textString="=")}));
end TwoInputs;
block TwoOutputs
"Obsolete block. Use instead Modelica.Blocks.Math.InverseBlockConstraints"
extends Modelica.Blocks.Interfaces.BlockIcon;
extends ObsoleteModelica3.Icons.ObsoleteBlock;
output Modelica.Blocks.Interfaces.RealOutput y1
"Connector of first Real output signal"
annotation (Placement(transformation(extent={{100,-10},{120,10}})));
output Modelica.Blocks.Interfaces.RealOutput y2
"Connector of second Real output signal (y1=y2)"
annotation (Placement(
transformation(
origin={-110.366,-0.90289},
extent={{-10.0005,-10},{10.0005,10}},
rotation=180)));
equation
y1 = y2;
annotation(defaultConnectionStructurallyInconsistent=true,
obsolete="Model is not balanced, i.e., not according to Modelica Language 3.0. Use instead Modelica.Blocks.Math.InverseBlockConstraints",
Documentation(info="<html>
<p>
This block is used to enable calculation of values preliminary defined as inputs.
(e.g., useful for inverse model generation).
</p>
</html>"), Icon(coordinateSystem(
preserveAspectRatio=false,
extent={{-100,-100},{100,100}}),
graphics={Text(
extent={{-95,50},{95,-50}},
lineColor={0,0,127},
textString="=")}));
end TwoOutputs;
end Math;
end Blocks;
package Electrical
"Library of electrical models (analog, digital, machines, multi-phase)"
package Analog "Library for analog electrical models"
package Basic
"Basic electrical components such as resistor, capacitor, transformer"
model HeatingResistor
"Obsolete model. Use Modelica.Electrical.Analog.Basic.HeatingResistor instead"
extends Modelica.Electrical.Analog.Interfaces.OnePort;
extends ObsoleteModelica3.Icons.ObsoleteModel;
parameter Modelica.SIunits.Resistance R_ref=1
"Resistance at temperature T_ref";
parameter Modelica.SIunits.Temperature T_ref=300
"Reference temperature";
parameter Real alpha(unit="1/K") = 0
"Temperature coefficient of resistance";
Modelica.SIunits.Resistance R
"Resistance = R_ref*(1 + alpha*(heatPort.T - T_ref));";
Modelica.Thermal.HeatTransfer.Interfaces.HeatPort_a heatPort annotation (Placement(
transformation(
origin={0,-100},
extent={{10,-10},{-10,10}},
rotation=270)));
equation
v = R*i;
if cardinality(heatPort) > 0 then
R = R_ref*(1 + alpha*(heatPort.T - T_ref));
heatPort.Q_flow = -v*i;
else
/* heatPort is not connected resulting in the
implicit equation 'heatPort.Q_flow = 0'
*/
R = R_ref;
heatPort.T = T_ref;
end if;
annotation (
obsolete="Model equations depend on cardinality(..) which will become obsolete in the Modelica language. Use instead Modelica.Electrical.Analog.Basic.HeatingResistor",
Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-100},{100,100}}), graphics={
Line(points={{-110,20},{-85,20}}, color={160,160,164}),
Polygon(
points={{-95,23},{-85,20},{-95,17},{-95,23}},
lineColor={160,160,164},
fillColor={160,160,164},
fillPattern=FillPattern.Solid),
Line(points={{90,20},{115,20}}, color={160,160,164}),
Line(points={{-125,0},{-115,0}}, color={160,160,164}),
Line(points={{-120,-5},{-120,5}}, color={160,160,164}),
Text(
extent={{-110,25},{-90,45}},
lineColor={160,160,164},
textString="i"),
Polygon(
points={{105,23},{115,20},{105,17},{105,23}},
lineColor={160,160,164},
fillColor={160,160,164},
fillPattern=FillPattern.Solid),
Line(points={{115,0},{125,0}}, color={160,160,164}),
Text(
extent={{90,45},{110,25}},
lineColor={160,160,164},
textString="i"),
Rectangle(extent={{-70,30},{70,-30}}),
Line(points={{-96,0},{-70,0}}),
Line(points={{70,0},{96,0}}),
Line(points={{0,-30},{0,-90}}, color={191,0,0}),
Line(points={{-52,-50},{48,50}}, color={0,0,255}),
Polygon(
points={{40,52},{50,42},{54,56},{40,52}},
lineColor={0,0,255},
fillColor={0,0,255},
fillPattern=FillPattern.Solid)}),
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Text(extent={{-142,60},{143,118}}, textString="%name"),
Line(points={{-90,0},{-70,0}}),
Line(points={{70,0},{90,0}}),
Rectangle(
extent={{-70,30},{70,-30}},
lineColor={0,0,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Line(points={{0,-30},{0,-91}}, color={191,0,0}),
Line(points={{-52,-50},{48,50}}, color={0,0,255}),
Polygon(
points={{40,52},{50,42},{54,56},{40,52}},
lineColor={0,0,255},
fillColor={0,0,255},
fillPattern=FillPattern.Solid)}),
Documentation(info="<html>
<p>This is a model for an electrical resistor where the generated heat
is dissipated to the environment via connector <strong>heatPort</strong> and where
the resistance R is temperature dependent according to the following
equation:</p>
<pre> R = R_ref*(1 + alpha*(heatPort.T - T_ref))
</pre>
<p><strong>alpha</strong> is the <strong>temperature coefficient of resistance</strong>, which
is often abbreviated as <strong>TCR</strong>. In resistor catalogues, it is usually
defined as <strong>X [ppm/K]</strong> (parts per million, similarly to percentage)
meaning <strong>X*1.e-6 [1/K]</strong>. Resistors are available for 1 .. 7000 ppm/K,
i.e., alpha = 1e-6 .. 7e-3 1/K;</p>
<p>When connector <strong>heatPort</strong> is <strong>not</strong> connected, the temperature
dependent behaviour is switched off by setting heatPort.T = T_ref.
Additionally, the equation <code>heatPort.Q_flow = 0</code> is implicitly present
due to a special rule in Modelica that flow variables of not connected
connectors are set to zero.</p>
</html>", revisions=
"<html>
<ul>
<li><em> 2002 </em>
by Anton Haumer<br> initially implemented<br>
</li>
</ul>
</html>"));
end HeatingResistor;
end Basic;
end Analog;
end Electrical;
package Icons "Library of icons"
partial block ObsoleteBlock
"Icon for an obsolete block (use only for this case)"
annotation (obsolete="Only used to mark an obsolete block. Do not use otherwise.",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-102,102},{102,-102}},
lineColor={255,0,0},
pattern=LinePattern.Dash,
lineThickness=0.5)}), Documentation(info="<html>
<p>
This partial block is intended to provide a <u>default icon
for an obsolete block</u> that will be removed from the
corresponding library in a future release.
</p>
</html>"));
end ObsoleteBlock;
partial model ObsoleteModel
"Icon for an obsolete model (use only for this case)"
annotation (obsolete="Only used to mark an obsolete model. Do not use otherwise.",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-100},{100,100}}), graphics={Rectangle(
extent={{-102,102},{102,-102}},
lineColor={255,0,0},
pattern=LinePattern.Dash,
lineThickness=0.5)}), Documentation(info="<html>
<p>
This partial model is intended to provide a <u>default icon
for an obsolete model</u> that will be removed from the
corresponding library in a future release.
</p>
</html>"));
end ObsoleteModel;
partial class Enumeration
"Obsolete class (icon for an enumeration emulated by a package). Use a real enumeration instead"
annotation (obsolete="Icon for an emulated enumeration. Emulated enumerations are no longer used (only real enumerations)",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Text(extent={{-138,164},{138,104}}, textString="%name"),
Ellipse(
extent={{-100,100},{100,-100}},
lineColor={255,0,127},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-100,100},{100,-100}},
lineColor={255,0,127},
textString="e")}),
Documentation(info="<html>
<p>
This icon is designed for an <strong>enumeration</strong>
(that is emulated by a package).
</p>
</html>"));
end Enumeration;
end Icons;
package Mechanics
"Library of 1-dim. and 3-dim. mechanical components (multi-body, rotational, translational)"
package MultiBody "Library to model 3-dimensional mechanical systems"
package Forces
"Components that exert forces and/or torques between frames"
model WorldForceAndTorque
"Obsolete model. Use instead Modelica.Mechanics.MultiBody.Forces.WorldForceAndTorque"
import SI = Modelica.SIunits;
import Modelica.Mechanics.MultiBody.Types;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_b;
extends ObsoleteModelica3.Icons.ObsoleteModel;
Modelica.Blocks.Interfaces.RealInput load[6]
"[1:6] = x-, y-, z-coordinates of force and x-, y-, z-coordiantes of torque resolved in world frame"
annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
parameter Boolean animation=true
"= true, if animation shall be enabled";
parameter Real N_to_m(unit="N/m") = world.defaultN_to_m
" Force arrow scaling (length = force/N_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
parameter Real Nm_to_m(unit="N.m/m") = world.defaultNm_to_m
" Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter forceDiameter=world.defaultArrowDiameter
" Diameter of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter torqueDiameter=forceDiameter
" Diameter of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
" Color of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
" Color of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
SI.Position f_in_m[3]=frame_b.f/N_to_m
"Force mapped from N to m for animation";
SI.Position t_in_m[3]=frame_b.t/Nm_to_m
"Torque mapped from Nm to m for animation";
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow forceArrow(
diameter=forceDiameter,
color=forceColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=f_in_m,
r_head=-f_in_m) if world.enableAnimation and animation;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.DoubleArrow
torqueArrow(
diameter=torqueDiameter,
color=torqueColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=t_in_m,
r_head=-t_in_m) if world.enableAnimation and animation;
equation
frame_b.f = -Modelica.Mechanics.MultiBody.Frames.resolve2(frame_b.R, load[1
:3]);
frame_b.t = -Modelica.Mechanics.MultiBody.Frames.resolve2(frame_b.R, load[4
:6]);
annotation (
obsolete="Based on a packed result signal which is not a good design. Use instead Modelica.Mechanics.MultiBody.Forces.WorldForceAndTorque",
preferredView="info",
Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-100},{100,100}}), graphics={
Polygon(
points={{-100,10},{50,10},{50,31},{97,0},{50,-31},{50,-10},{-100,
-10},{-100,10}},
fillPattern=FillPattern.Solid),
Line(
points={{-100,11},{-94,24},{-86,39},{-74,59},{-65,71},{-52,83},
{-35,92},{-22,95},{-8,95},{7,91},{19,84},{32,76},{44,66},
{52,58},{58,51}},
thickness=0.5),
Polygon(
points={{97,18},{72,77},{38,42},{97,18}},
fillPattern=FillPattern.Solid)}),
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Text(
extent={{-74,62},{44,24}},
lineColor={192,192,192},
textString="world"),
Polygon(
points={{-100,10},{50,10},{50,31},{94,0},{50,-31},{50,-10},{-100,
-10},{-100,10}},
fillPattern=FillPattern.Solid),
Text(extent={{-137,-47},{148,-108}}, textString="%name"),
Line(
points={{-98,14},{-92,27},{-84,42},{-72,62},{-63,74},{-50,86},
{-33,95},{-20,98},{-6,98},{9,94},{21,87},{34,79},{46,69},
{54,61},{60,54}},
thickness=0.5),
Polygon(
points={{99,21},{74,80},{40,45},{99,21}},
fillPattern=FillPattern.Solid)}),
Documentation(info="<html>
<p>
The <strong>6</strong> signals of the <strong>load</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> and as
the x-, y-, and z-coordinates of a <strong>torque</strong> resolved in the
<strong>world frame</strong> and acting at the frame connector to which this
component is attached. The input signals are mapped to the force
and torque in the following way:
</p>
<pre>
force = load[1:3]
torque = load[4:6]
</pre>
<p>
The force and torque are by default visualized as an arrow (force)
and as a double arrow (torque) acting at the connector to which
they are connected. The diameters
and colors of the arrows are fixed and can be defined via
parameters <strong>forceDiameter</strong>, <strong>torqueDiameter</strong>,
<strong>forceColor</strong> and <strong>torqueColor</strong>. The arrows
point in the directions defined by the
inPort.signal signals. The lengths of the arrows are proportional
to the length of the force and torque vectors, respectively, using parameters
<strong>N_to_m</strong> and <strong>Nm_to_m</strong> as scaling factors. For example, if N_to_m = 100 N/m,
then a force of 350 N is displayed as an arrow of length 3.5 m.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque1.png\">
<p>
This leads to the following animation
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/WorldForceAndTorque2.png\">
</html>"));
end WorldForceAndTorque;
model FrameForceAndTorque
"Obsolete model. Use instead Modelica.Mechanics.MultiBody.Forces.ForceAndTorque"
import SI = Modelica.SIunits;
import Modelica.Mechanics.MultiBody.Types;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialOneFrame_b;
extends ObsoleteModelica3.Icons.ObsoleteModel;
Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve
"If connected, the input signals are resolved in this frame"
annotation (Placement(transformation(
origin={0,100},
extent={{16,-16},{-16,16}},
rotation=270)));
Modelica.Blocks.Interfaces.RealInput load[6]
"[1:6] = x-, y-, z-coordinates of force and x-, y-, z-coordiantes of torque resolved in frame_b or frame_resolved (if connected)"
annotation (Placement(transformation(extent={{-140,-20},{-100,20}})));
parameter Boolean animation=true
"= true, if animation shall be enabled";
parameter Real N_to_m(unit="N/m") = world.defaultN_to_m
" Force arrow scaling (length = force/N_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
parameter Real Nm_to_m(unit="N.m/m") = world.defaultNm_to_m
" Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter forceDiameter=world.defaultArrowDiameter
" Diameter of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter torqueDiameter=forceDiameter
" Diameter of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
" Color of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
" Color of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
protected
SI.Position f_in_m[3]=frame_b.f/N_to_m
"Force mapped from N to m for animation";
SI.Position t_in_m[3]=frame_b.t/Nm_to_m
"Torque mapped from Nm to m for animation";
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow forceArrow(
diameter=forceDiameter,
color=forceColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=f_in_m,
r_head=-f_in_m) if world.enableAnimation and animation;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.DoubleArrow
torqueArrow(
diameter=torqueDiameter,
color=torqueColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=t_in_m,
r_head=-t_in_m) if world.enableAnimation and animation;
equation
if cardinality(frame_resolve) == 0 then
frame_b.f = -load[1:3];
frame_b.t = -load[4:6];
frame_resolve.r_0 = zeros(3);
frame_resolve.R = Modelica.Mechanics.MultiBody.Frames.nullRotation();
else
frame_b.f = -Modelica.Mechanics.MultiBody.Frames.resolveRelative(
load[1:3],
frame_resolve.R,
frame_b.R);
frame_b.t = -Modelica.Mechanics.MultiBody.Frames.resolveRelative(
load[4:6],
frame_resolve.R,
frame_b.R);
frame_resolve.f = zeros(3);
frame_resolve.t = zeros(3);
end if;
annotation (
obsolete="Based on a packed result signal which is not a good design. Use instead Modelica.Mechanics.MultiBody.Forces.ForceAndTorque",
preferredView="info",
Diagram(coordinateSystem(preserveAspectRatio=false, extent={{-100,
-100},{100,100}}), graphics={
Polygon(
points={{-100,10},{50,10},{50,31},{97,0},{50,-31},{50,-10},{-100,
-10},{-100,10}},
fillPattern=FillPattern.Solid),
Line(points={{-100,11},{-94,24},{-86,39},{-74,59},{-65,71},{-52,
83},{-35,92},{-22,95},{-8,95},{7,91},{19,84},{32,76},{44,
66},{52,58},{58,51}}),
Polygon(
points={{97,18},{72,77},{38,42},{97,18}},
fillPattern=FillPattern.Solid),
Line(
points={{0,97},{0,10}},
color={95,95,95},
pattern=LinePattern.Dot)}),
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Text(
extent={{-74,62},{44,24}},
lineColor={192,192,192},
textString="resolve"),
Polygon(
points={{-100,10},{50,10},{50,31},{94,0},{50,-31},{50,-10},{-100,
-10},{-100,10}},
fillPattern=FillPattern.Solid),
Text(extent={{-137,-47},{148,-108}}, textString="%name"),
Line(points={{-100,10},{-92,26},{-84,42},{-76,52},{-60,68},{-46,
76},{-31,82},{-17,85},{-2,87},{14,86},{26,82},{37,75},{46,
69},{54,61},{60,54}}),
Polygon(
points={{99,21},{74,80},{40,45},{99,21}},
fillPattern=FillPattern.Solid),
Line(
points={{0,95},{0,10}},
color={95,95,95},
pattern=LinePattern.Dot)}),
Documentation(info="<html>
<p>
The <strong>6</strong> signals of the <strong>load</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> and as
the x-, y-, and z-coordinates of a <strong>torque</strong> acting at the frame
connector to which this component is attached. If connector
<strong>frame_resolve</strong> is <strong>not</strong> connected, the force and torque coordinates
are with respect to <strong>frame_b</strong>. If connector
<strong>frame_resolve</strong> is connected, the force and torque coordinates
are with respect to <strong>frame_resolve</strong>. In this case the
force and torque in connector frame_resolve are set to zero,
i.e., this connector is solely used to provide the information
of the coordinate system, in which the force coordinates
are defined. The input signals are mapped to the force
and torque in the following way:
</p>
<pre>
force = load[1:3]
torque = load[4:6]
</pre>
<p>
The force and torque are by default visualized as an arrow (force)
and as a double arrow (torque) acting at the connector to which
they are connected. The diameters
and colors of the arrows are fixed and can be defined via
parameters <strong>forceDiameter</strong>, <strong>torqueDiameter</strong>,
<strong>forceColor</strong> and <strong>torqueColor</strong>. The arrows
point in the directions defined by the
inPort.signal signals. The lengths of the arrows are proportional
to the length of the force and torque vectors, respectively, using parameters
<strong>N_to_m</strong> and <strong>Nm_to_m</strong> as scaling factors. For example,
if N_to_m = 100 N/m,
then a force of 350 N is displayed as an arrow of length 3.5 m.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/obsoleteFrameForceAndTorque1.png\">
<p>
This leads to the following animation
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/obsoleteFrameForceAndTorque2.png\">
</html>"));
end FrameForceAndTorque;
model ForceAndTorque
"Obsolete model. Use instead Modelica.Mechanics.MultiBody.Forces.ForceAndTorque"
import SI = Modelica.SIunits;
import Modelica.Mechanics.MultiBody.Types;
extends Modelica.Mechanics.MultiBody.Interfaces.PartialTwoFrames;
extends ObsoleteModelica3.Icons.ObsoleteModel;
Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve
"If connected, the input signals are resolved in this frame"
annotation (Placement(transformation(
origin={40,100},
extent={{-16,-16},{16,16}},
rotation=90)));
Modelica.Blocks.Interfaces.RealInput load[6]
"[1:6] = x-, y-, z-coordinates of force and x-, y-, z-coordiantes of torque resolved in frame_b or frame_resolved (if connected)"
annotation (Placement(transformation(
origin={-60,120},
extent={{-20,-20},{20,20}},
rotation=270)));
parameter Boolean animation=true
"= true, if animation shall be enabled";
parameter Real N_to_m(unit="N/m") = world.defaultN_to_m
" Force arrow scaling (length = force/N_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
parameter Real Nm_to_m(unit="N.m/m") = world.defaultNm_to_m
" Torque arrow scaling (length = torque/Nm_to_m)"
annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter forceDiameter=world.defaultArrowDiameter
" Diameter of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter torqueDiameter=forceDiameter
" Diameter of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input SI.Diameter connectionLineDiameter=forceDiameter
" Diameter of line connecting frame_a and frame_b"
annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color forceColor=Modelica.Mechanics.MultiBody.Types.Defaults.ForceColor
" Color of force arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color torqueColor=Modelica.Mechanics.MultiBody.Types.Defaults.TorqueColor
" Color of torque arrow" annotation (Dialog(group="if animation = true", enable=animation));
input Types.Color connectionLineColor=Modelica.Mechanics.MultiBody.Types.Defaults.SensorColor
" Color of line connecting frame_a and frame_b"
annotation (Dialog(group="if animation = true", enable=animation));
input Types.SpecularCoefficient specularCoefficient = world.defaultSpecularCoefficient
"Reflection of ambient light (= 0: light is completely absorbed)"
annotation (Dialog(group="if animation = true", enable=animation));
SI.Position r_0[3]
"Position vector from origin of frame_a to origin of frame_b resolved in world frame";
SI.Force f_b_0[3] "frame_b.f resolved in world frame";
SI.Torque t_b_0[3] "frame_b.t resolved in world frame";
protected
SI.Position f_in_m[3]=frame_b.f/N_to_m
"Force mapped from N to m for animation";
SI.Position t_in_m[3]=frame_b.t/Nm_to_m
"Torque mapped from Nm to m for animation";
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Arrow forceArrow(
diameter=forceDiameter,
color=forceColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=f_in_m,
r_head=-f_in_m) if world.enableAnimation and animation;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.DoubleArrow
torqueArrow(
diameter=torqueDiameter,
color=torqueColor,
specularCoefficient=specularCoefficient,
R=frame_b.R,
r=frame_b.r_0,
r_tail=t_in_m,
r_head=-t_in_m) if world.enableAnimation and animation;
Modelica.Mechanics.MultiBody.Visualizers.Advanced.Shape
connectionLine(
shapeType="cylinder",
lengthDirection=r_0,
widthDirection={0,1,0},
length=Modelica.Math.Vectors.length( r_0),
width=connectionLineDiameter,
height=connectionLineDiameter,
color=connectionLineColor,
specularCoefficient=specularCoefficient,
r=frame_a.r_0) if world.enableAnimation and animation;
equation
if cardinality(frame_resolve) == 0 then
frame_b.f = -load[1:3];
frame_b.t = -load[4:6];
f_b_0 = Modelica.Mechanics.MultiBody.Frames.resolve1(frame_b.R, frame_b.f);
t_b_0 = Modelica.Mechanics.MultiBody.Frames.resolve1(frame_b.R, frame_b.t);
frame_resolve.r_0 = zeros(3);
frame_resolve.R = Modelica.Mechanics.MultiBody.Frames.nullRotation();
else
f_b_0 = -Modelica.Mechanics.MultiBody.Frames.resolve1(frame_resolve.R,
load[1:3]);
t_b_0 = -Modelica.Mechanics.MultiBody.Frames.resolve1(frame_resolve.R,
load[4:6]);
frame_b.f = Modelica.Mechanics.MultiBody.Frames.resolve2(frame_b.R, f_b_0);
frame_b.t = Modelica.Mechanics.MultiBody.Frames.resolve2(frame_b.R, t_b_0);
frame_resolve.f = zeros(3);
frame_resolve.t = zeros(3);
end if;
// Force and torque balance
r_0 = frame_b.r_0 - frame_a.r_0;
zeros(3) = frame_a.f + Modelica.Mechanics.MultiBody.Frames.resolve2(frame_a.R,
f_b_0);
zeros(3) = frame_a.t + Modelica.Mechanics.MultiBody.Frames.resolve2(frame_a.R,
t_b_0 + cross(r_0, f_b_0));
annotation (
obsolete="Based on a packed result signal which is not a good design. Use instead Modelica.Mechanics.MultiBody.Forces.ForceAndTorque",
preferredView="info",
Icon(coordinateSystem(preserveAspectRatio=false, extent={{-100,-100},
{100,100}}), graphics={
Rectangle(
extent={{-98,99},{99,-98}},
lineColor={255,255,255},
fillColor={255,255,255},
fillPattern=FillPattern.Solid),
Text(
extent={{-59,55},{72,30}},
lineColor={192,192,192},
textString="resolve"),
Text(extent={{-136,-52},{149,-113}}, textString="%name"),
Polygon(
points={{100,21},{84,55},{69,39},{100,21}},
fillPattern=FillPattern.Solid),
Line(
points={{40,100},{40,0}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{-95,1},{-64,11},{-64,-10},{-95,1}},
fillPattern=FillPattern.Solid),
Polygon(
points={{-100,20},{-86,53},{-70,42},{-100,20}},
fillPattern=FillPattern.Solid),
Line(
points={{-60,100},{40,100}},
color={95,95,95},
pattern=LinePattern.Dot),
Polygon(
points={{94,0},{65,12},{65,-11},{94,0}},
fillPattern=FillPattern.Solid),
Line(points={{-64,0},{-20,0}}),
Line(points={{20,0},{65,0}}),
Line(points={{-79,47},{-70,61},{-59,72},{-45,81},{-32,84},{-20,
85}}),
Line(points={{76,47},{66,60},{55,69},{49,74},{41,80},{31,84},{
20,85}})}),
Documentation(info="<html>
<p>
The <strong>6</strong> signals of the <strong>load</strong> connector are interpreted
as the x-, y- and z-coordinates of a <strong>force</strong> and as
the x-, y-, and z-coordinates of a <strong>torque</strong> acting at the frame
connector to which frame_b of this component is attached. If connector
<strong>frame_resolve</strong> is <strong>not</strong> connected, the force and torque coordinates
are with respect to <strong>frame_b</strong>. If connector
<strong>frame_resolve</strong> is connected, the force and torque coordinates
are with respect to <strong>frame_resolve</strong>. In this case the
force and torque in connector frame_resolve are set to zero,
i.e., this connector is solely used to provide the information
of the coordinate system, in which the force/torque coordinates
are defined. The input signals are mapped to the force
and torque in the following way:
</p>
<pre>
force = load[1:3]
torque = load[4:6]
</pre>
<p>
Additionally, a force and torque acts on frame_a in such a way that
the force and torque balance between frame_a and frame_b is fulfilled.
</p>
<p>
An example how to use this model is given in the
following figure:
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/ForceAndTorque1.png\">
<p>
This leads to the following animation (the yellow cylinder
characterizes the line between frame_a and frame_b of the
ForceAndTorque component, i.e., the force and torque acts with
negative sign
also on the opposite side of this cylinder, but for
clarity this is not shown in the animation):
</p>
<img src=\"modelica://Modelica/Resources/Images/Mechanics/MultiBody/Forces/ForceAndTorque2.png\">
</html>"));
end ForceAndTorque;
end Forces;
package Interfaces
"Connectors and partial models for 3-dim. mechanical components"
partial model PartialCutForceSensor
"Obsolete model. Use instead a model from Modelica.Mechanics.MultiBody.Sensors"
extends Modelica.Icons.RotationalSensor;
extends ObsoleteModelica3.Icons.ObsoleteModel;
Modelica.Mechanics.MultiBody.Interfaces.Frame_a frame_a
"Coordinate system with one cut-force and cut-torque" annotation (Placement(
transformation(extent={{-116,-16},{-84,16}})));
Modelica.Mechanics.MultiBody.Interfaces.Frame_b frame_b
"Coordinate system with one cut-force and cut-torque" annotation (Placement(
transformation(extent={{84,-16},{116,16}})));
Modelica.Mechanics.MultiBody.Interfaces.Frame_resolve frame_resolve
"If connected, the output signals are resolved in this frame (cut-force/-torque are set to zero)"
annotation (Placement(transformation(
origin={80,-100},